A sliding mode control approach based on the feedback linearization is proposed for the electrically controllable clutch of AMT vehicles. The nonlinear dynamic model for the hydraulic actuator associated with clutch i...A sliding mode control approach based on the feedback linearization is proposed for the electrically controllable clutch of AMT vehicles. The nonlinear dynamic model for the hydraulic actuator associated with clutch is established. By means of the exact feedback linearization procedure of differential geometry, an equivalent, fully controllable and linear model is derived via a homomorphic transformation for the AMT clutch system.Furthermore, a sliding mode control is introduced to improve robustness. The tracking tests are performed using the sliding mode control on a Santana LX passenger car, and the experimental results prove that this nonlinear controller is of fine robustness and high degree of tracking accuracy.展开更多
The problem of robustifying linear quadratic regulators （LQRs） for a class of uncertain affine nonlinear systems is considered. First, the exact linearization technique is used to transform an uncertain nonlinear sy...The problem of robustifying linear quadratic regulators （LQRs） for a class of uncertain affine nonlinear systems is considered. First, the exact linearization technique is used to transform an uncertain nonlinear system into a linear one and an optimal LQR is designed for the corresponding nominal system. Then, based on the integral sliding mode, a design approach to robustifying the optimal regulator is studied. As a result, the system exhibits global robustness to uncertainties and the ideal sliding mode dynamics is the same as that of the optimal LQR for the nominal system. A global robust optimal sliding mode control （GROSMC） is realized. Finally, a numerical simulation is demonstrated to show the effectiveness and superiority of the proposed algorithm compared with the conventional optimal LQR.展开更多
In this paper, a Takagi Sugeno （T-S） fuzzy model-based method is proposed to deal with the problem of synchronization of two identical or different hyperchaotic systems. The T S fuzzy models with a small number of f...In this paper, a Takagi Sugeno （T-S） fuzzy model-based method is proposed to deal with the problem of synchronization of two identical or different hyperchaotic systems. The T S fuzzy models with a small number of fuzzy IF-THEN rules are employed to represent many typical hyperchaotic systems exactly. The benefit of employing the T-S fuzzy models lies in mathematical simplicity of analysis. Based on the T-S fuzzy hyperchaotic models, two fuzzy controllers arc designed via parallel distributed compensation （PDC） and exact linearization （EL） techniques to synchronize two identical hyperchaotic systems with uncertain parameters and two different hyperchaotic systems, respectively. The sufficient conditions for the robust synchronization of two identical hyperchaotic systems with uncertain parameters and the asymptotic synchronization of two different hyperchaotic systems are derived by applying the Lyapunov stability theory. This method is a universal one of synchronizing two identical or different hyperchaotic systems. Numerical examples are given to demonstrate the validity of the proposed fuzzy model and hyperchaotic synchronization scheme.展开更多
In order to improve the path tracking accuracy and robustness of the agricultural machinery navigation system,a sliding-mode variable-structure controller based on exact feedback linearization was presented.Firstly,ba...In order to improve the path tracking accuracy and robustness of the agricultural machinery navigation system,a sliding-mode variable-structure controller based on exact feedback linearization was presented.Firstly,based on the differential geometry theory and the affine nonlinear kinematics model,the corresponding nonlinear coordinate change matrix and nonlinear state variable feedback equations were deduced,and an exact feedback linearization model was then established.Secondly,based on the exact feedback linearization model,a sliding-mode variable-structure controller was designed by selecting suitable linear switching function and exponential reaching law.Finally,the comparative experiments were carried out.And the experimental results indicated that the proposed method had a high tracking accuracy and robustness.The maximum lateral error of the straight line tracking was less than 0.06 m,and maximum lateral error of the curve path tracking was less than 0.09 m.Experimental results show that the transplanter based on this automatic navigation system can effectively track the predefined path.展开更多
Aimed at the finite-time stabilization problem of a class of flexible manipulators,a finite-time state feedback stabilization controller was proposed in this paper.Firstly,the nonlinear model of flexible manipulators ...Aimed at the finite-time stabilization problem of a class of flexible manipulators,a finite-time state feedback stabilization controller was proposed in this paper.Firstly,the nonlinear model of flexible manipulators was transformed into linear system through the exact state feedback linearization,and then using the finite time stabilization control method of the linear system,a finite-time state feedback stabilization controller was designed for the flexible manipulators.Furthermore,it was proved that all the states of flexible manipulators could be stabilized to equilibrium in finite-time under the proposed controller.The simulation results show that the performance of the flexible manipulators under the proposed finite-time state feedback controller is better than the traditional state-feedback controller.The proposed finite-time stabilization controller can improve the performance of the flexible manipulators.展开更多
Power flow(PF)is one of the most important calculations in power systems.The widely-used PF methods are the Newton-Raphson PF(NRPF)method and the fast-decoupled PF(FDPF)method.In smart grids,power generations and load...Power flow(PF)is one of the most important calculations in power systems.The widely-used PF methods are the Newton-Raphson PF(NRPF)method and the fast-decoupled PF(FDPF)method.In smart grids,power generations and loads become intermittent and much more uncertain,and the topology also changes more frequently,which may result in significant state shifts and further make NRPF or FDPF difficult to converge.To address this problem,we propose a data-driven PF(DDPF)method based on historical/simulated data that includes an offline learning stage and an online computing stage.In the offline learning stage,a learning model is constructed based on the proposed exact linear regression equations,and then the proposed learning model is solved by the ridge regression(RR)method to suppress the effect of data collinearity.In online computing stage,the nonlinear iterative calculation is not needed.Simulation results demonstrate that the proposed DDPF method has no convergence problem and has much higher calculation efficiency than NRPF or FDPF while ensuring similar calculation accuracy.展开更多
Intersubband linear and third-order nonlinear optical properties of conical quantum dots with infinite barrier potential are studied. The electronic structure of conical quantum dots through effective mass approximati...Intersubband linear and third-order nonlinear optical properties of conical quantum dots with infinite barrier potential are studied. The electronic structure of conical quantum dots through effective mass approximation is determined analytically. Linear, nonlinear, and total absorption coefficients, as well as the refractive indices of GaAs conical dots, are calculated. The effects of the size of the dots and of the incident electromagnetic field are investigated. Results show that the total absorption coefficient and the refractive index of the dots largely depend on the size of the dots and on the intensity and polarization of the incident electromaenetic field.展开更多
Passive control is the most popular methodology for flexible spacecraft while it remains an open problem whether the closed-loop performance can be achieved only with passive control subject to the coupling modes of r...Passive control is the most popular methodology for flexible spacecraft while it remains an open problem whether the closed-loop performance can be achieved only with passive control subject to the coupling modes of rigid and flexibility.Also,the closed-loop performance of passive PD control based on the dynamics of the Euler angle parameterization of spacecraft,which has been widely used in practice,is yet to be addressed.Towards these challenges,by introducing the input-output exact linearization theory and Lyapunov theory,the authors show that the closed-loop performance for flexible spacecraft with rigid and flexible modes can be achieved by adjusting the parameters of the passive controllers sufficiently large.This is done by firstly transforming the flexible spacecraft dynamics into an exact feedback linearization standard form,and then analyzing the closed-loop performance of flexible spacecraft.展开更多
The stabilization problem of a kind of prey-predator model with Holling fimctional response is investigated. By approximate linearization approach, a feedback control law stabilizing the closed- loop system is obtaine...The stabilization problem of a kind of prey-predator model with Holling fimctional response is investigated. By approximate linearization approach, a feedback control law stabilizing the closed- loop system is obtained. On the other hand, by exact linearization approach, a suitable change of coordinates in the state space and a feedback control law render the complex nonlinear system to be a linear controllable one such that the positive equilibrium point of the closed-loop system is globally asymptotically stable.展开更多
：This paper deals with H∞ control of a 5th-order model of synchronous generators. First,byusing the method of exact linearization, we transform the 5th-order model into a linear one. Then we assignthe pole of the li...：This paper deals with H∞ control of a 5th-order model of synchronous generators. First,byusing the method of exact linearization, we transform the 5th-order model into a linear one. Then we assignthe pole of the linearized model in the open left half plane. Finally, we apply the design method of linear H∞control to get a state feedback controller.展开更多
基金This project is imbursed by elite university teacher supporting plan
文摘A sliding mode control approach based on the feedback linearization is proposed for the electrically controllable clutch of AMT vehicles. The nonlinear dynamic model for the hydraulic actuator associated with clutch is established. By means of the exact feedback linearization procedure of differential geometry, an equivalent, fully controllable and linear model is derived via a homomorphic transformation for the AMT clutch system.Furthermore, a sliding mode control is introduced to improve robustness. The tracking tests are performed using the sliding mode control on a Santana LX passenger car, and the experimental results prove that this nonlinear controller is of fine robustness and high degree of tracking accuracy.
基金supported by the Doctoral Foundation of Qingdao University of Science and Technology(0022330).
文摘The problem of robustifying linear quadratic regulators （LQRs） for a class of uncertain affine nonlinear systems is considered. First, the exact linearization technique is used to transform an uncertain nonlinear system into a linear one and an optimal LQR is designed for the corresponding nominal system. Then, based on the integral sliding mode, a design approach to robustifying the optimal regulator is studied. As a result, the system exhibits global robustness to uncertainties and the ideal sliding mode dynamics is the same as that of the optimal LQR for the nominal system. A global robust optimal sliding mode control （GROSMC） is realized. Finally, a numerical simulation is demonstrated to show the effectiveness and superiority of the proposed algorithm compared with the conventional optimal LQR.
基金Project supported by the National Natural Science Foundation of China (Grant Nos 60534010, 60572070, 60774048 and 60728307)the Program for Changjiang Scholars and Innovative Research Groups of China (Grant No 60521003)+1 种基金the Specialized Research Fund for the Doctoral Program of Higher Education of China (Grant No 20070145015)the National High Technology Research and Development Program of China (Grant No 2006AA04Z183)
文摘In this paper, a Takagi Sugeno （T-S） fuzzy model-based method is proposed to deal with the problem of synchronization of two identical or different hyperchaotic systems. The T S fuzzy models with a small number of fuzzy IF-THEN rules are employed to represent many typical hyperchaotic systems exactly. The benefit of employing the T-S fuzzy models lies in mathematical simplicity of analysis. Based on the T-S fuzzy hyperchaotic models, two fuzzy controllers arc designed via parallel distributed compensation （PDC） and exact linearization （EL） techniques to synchronize two identical hyperchaotic systems with uncertain parameters and two different hyperchaotic systems, respectively. The sufficient conditions for the robust synchronization of two identical hyperchaotic systems with uncertain parameters and the asymptotic synchronization of two different hyperchaotic systems are derived by applying the Lyapunov stability theory. This method is a universal one of synchronizing two identical or different hyperchaotic systems. Numerical examples are given to demonstrate the validity of the proposed fuzzy model and hyperchaotic synchronization scheme.
基金Key Technologies R&D Program of Liaoning Province(Y5L7160701)National High-tech R&D Program of China(“863”Program)(2013AA040403).
文摘In order to improve the path tracking accuracy and robustness of the agricultural machinery navigation system,a sliding-mode variable-structure controller based on exact feedback linearization was presented.Firstly,based on the differential geometry theory and the affine nonlinear kinematics model,the corresponding nonlinear coordinate change matrix and nonlinear state variable feedback equations were deduced,and an exact feedback linearization model was then established.Secondly,based on the exact feedback linearization model,a sliding-mode variable-structure controller was designed by selecting suitable linear switching function and exponential reaching law.Finally,the comparative experiments were carried out.And the experimental results indicated that the proposed method had a high tracking accuracy and robustness.The maximum lateral error of the straight line tracking was less than 0.06 m,and maximum lateral error of the curve path tracking was less than 0.09 m.Experimental results show that the transplanter based on this automatic navigation system can effectively track the predefined path.
基金Sponsored by the Doctoral Fund of Ministry of Education of China(20070288022)the Natural Science Foundation of Jiangsu Province of China(BK2008404)the Young Teacher Academic Foundation of Nanjing University of Technology(39710013)
文摘Aimed at the finite-time stabilization problem of a class of flexible manipulators,a finite-time state feedback stabilization controller was proposed in this paper.Firstly,the nonlinear model of flexible manipulators was transformed into linear system through the exact state feedback linearization,and then using the finite time stabilization control method of the linear system,a finite-time state feedback stabilization controller was designed for the flexible manipulators.Furthermore,it was proved that all the states of flexible manipulators could be stabilized to equilibrium in finite-time under the proposed controller.The simulation results show that the performance of the flexible manipulators under the proposed finite-time state feedback controller is better than the traditional state-feedback controller.The proposed finite-time stabilization controller can improve the performance of the flexible manipulators.
基金supported in part by National Natural Science Foundation of China(No.52077076)in part by the State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources(No.LAPS202118)。
文摘Power flow(PF)is one of the most important calculations in power systems.The widely-used PF methods are the Newton-Raphson PF(NRPF)method and the fast-decoupled PF(FDPF)method.In smart grids,power generations and loads become intermittent and much more uncertain,and the topology also changes more frequently,which may result in significant state shifts and further make NRPF or FDPF difficult to converge.To address this problem,we propose a data-driven PF(DDPF)method based on historical/simulated data that includes an offline learning stage and an online computing stage.In the offline learning stage,a learning model is constructed based on the proposed exact linear regression equations,and then the proposed learning model is solved by the ridge regression(RR)method to suppress the effect of data collinearity.In online computing stage,the nonlinear iterative calculation is not needed.Simulation results demonstrate that the proposed DDPF method has no convergence problem and has much higher calculation efficiency than NRPF or FDPF while ensuring similar calculation accuracy.
文摘Intersubband linear and third-order nonlinear optical properties of conical quantum dots with infinite barrier potential are studied. The electronic structure of conical quantum dots through effective mass approximation is determined analytically. Linear, nonlinear, and total absorption coefficients, as well as the refractive indices of GaAs conical dots, are calculated. The effects of the size of the dots and of the incident electromagnetic field are investigated. Results show that the total absorption coefficient and the refractive index of the dots largely depend on the size of the dots and on the intensity and polarization of the incident electromaenetic field.
基金supported by the National Key RδD Program of China under Grant No.2018YFA0703800the Science and Technology on Space Intelligent Control Laboratory Foundation of China under Grant No.ZDSYS-2018-04the National Natural Science Foundation of China under Grant Nos.51805025 and 61673350。
文摘Passive control is the most popular methodology for flexible spacecraft while it remains an open problem whether the closed-loop performance can be achieved only with passive control subject to the coupling modes of rigid and flexibility.Also,the closed-loop performance of passive PD control based on the dynamics of the Euler angle parameterization of spacecraft,which has been widely used in practice,is yet to be addressed.Towards these challenges,by introducing the input-output exact linearization theory and Lyapunov theory,the authors show that the closed-loop performance for flexible spacecraft with rigid and flexible modes can be achieved by adjusting the parameters of the passive controllers sufficiently large.This is done by firstly transforming the flexible spacecraft dynamics into an exact feedback linearization standard form,and then analyzing the closed-loop performance of flexible spacecraft.
文摘The stabilization problem of a kind of prey-predator model with Holling fimctional response is investigated. By approximate linearization approach, a feedback control law stabilizing the closed- loop system is obtained. On the other hand, by exact linearization approach, a suitable change of coordinates in the state space and a feedback control law render the complex nonlinear system to be a linear controllable one such that the positive equilibrium point of the closed-loop system is globally asymptotically stable.
基金Supported by National Natural Science Foundation( G5983 72 70 ,G1 9980 2 0 3 0 8,G1 9980 2 0 3 0 9) and Project 973 of China
文摘：This paper deals with H∞ control of a 5th-order model of synchronous generators. First,byusing the method of exact linearization, we transform the 5th-order model into a linear one. Then we assignthe pole of the linearized model in the open left half plane. Finally, we apply the design method of linear H∞control to get a state feedback controller.
